Update Rasterizer and add end2end fisheye integration test

Summary:
1) Update rasterizer/point rasterizer to accommodate fisheyecamera. Specifically, transform_points is in placement of explicit transform compositions.

2) In rasterizer unittests, update corresponding tests for rasterizer and point_rasterizer. Address comments to test fisheye against perspective camera when distortions are turned off.

3) Address comments to add end2end test for fisheyecameras. In test_render_meshes, fisheyecameras are added to camera enuerations whenever possible.

4) Test renderings with fisheyecameras of different params on cow mesh.

5) Use compositions for linear cameras whenever possible.

Reviewed By: kjchalup

Differential Revision: D38932736

fbshipit-source-id: 5b7074fc001f2390f4cf43c7267a8b37fd987547

pytorch3d/renderer/cameras.py

@@ -6,7 +6,7 @@
 
 import math
 import warnings
-from typing import List, Optional, Sequence, Tuple, Union
+from typing import Callable, List, Optional, Sequence, Tuple, Union
 
 import numpy as np
 import torch
@@ -91,7 +91,7 @@ class CamerasBase(TensorProperties):
     # When joining objects into a batch, they will have to agree.
     _SHARED_FIELDS: Tuple[str, ...] = ()
 
-    def get_projection_transform(self):
+    def get_projection_transform(self, **kwargs):
         """
         Calculate the projective transformation matrix.
 
@@ -1841,3 +1841,23 @@ def get_screen_to_ndc_transform(
         image_size=image_size,
     ).inverse()
     return transform
+
+
+def try_get_projection_transform(cameras, kwargs) -> Optional[Callable]:
+    """
+    Try block to get projection transform.
+
+    Args:
+        cameras instance, can be linear cameras or nonliear cameras
+
+    Returns:
+        If the camera implemented projection_transform, return the
+        projection transform; Otherwise, return None
+    """
+
+    transform = None
+    try:
+        transform = cameras.get_projection_transform(**kwargs)
+    except NotImplementedError:
+        pass
+    return transform

pytorch3d/renderer/mesh/rasterizer.py

@@ -9,6 +9,7 @@ from typing import Optional, Tuple, Union
 
 import torch
 import torch.nn as nn
+from pytorch3d.renderer.cameras import try_get_projection_transform
 
 from .rasterize_meshes import rasterize_meshes
 
@@ -197,12 +198,19 @@ class MeshRasterizer(nn.Module):
         verts_view = cameras.get_world_to_view_transform(**kwargs).transform_points(
             verts_world, eps=eps
         )
-        # view to NDC transform
+        # Call transform_points instead of explicitly composing transforms to handle
+        # the case, where camera class does not have a projection matrix form.
+        verts_proj = cameras.transform_points(verts_world, eps=eps)
         to_ndc_transform = cameras.get_ndc_camera_transform(**kwargs)
-        projection_transform = cameras.get_projection_transform(**kwargs).compose(
+        projection_transform = try_get_projection_transform(cameras, kwargs)
-            to_ndc_transform
+        if projection_transform is not None:
-        )
+            projection_transform = projection_transform.compose(to_ndc_transform)
-        verts_ndc = projection_transform.transform_points(verts_view, eps=eps)
+            verts_ndc = projection_transform.transform_points(verts_view, eps=eps)
+        else:
+            # Call transform_points instead of explicitly composing transforms to handle
+            # the case, where camera class does not have a projection matrix form.
+            verts_proj = cameras.transform_points(verts_world, eps=eps)
+            verts_ndc = to_ndc_transform.transform_points(verts_proj, eps=eps)
 
         verts_ndc[..., 2] = verts_view[..., 2]
         meshes_ndc = meshes_world.update_padded(new_verts_padded=verts_ndc)

pytorch3d/renderer/points/rasterizer.py

@@ -10,6 +10,7 @@ from typing import NamedTuple, Optional, Tuple, Union
 
 import torch
 import torch.nn as nn
+from pytorch3d.renderer.cameras import try_get_projection_transform
 from pytorch3d.structures import Pointclouds
 
 from .rasterize_points import rasterize_points
@@ -103,12 +104,16 @@ class PointsRasterizer(nn.Module):
         pts_view = cameras.get_world_to_view_transform(**kwargs).transform_points(
             pts_world, eps=eps
         )
-        # view to NDC transform
         to_ndc_transform = cameras.get_ndc_camera_transform(**kwargs)
-        projection_transform = cameras.get_projection_transform(**kwargs).compose(
+        projection_transform = try_get_projection_transform(cameras, kwargs)
-            to_ndc_transform
+        if projection_transform is not None:
-        )
+            projection_transform = projection_transform.compose(to_ndc_transform)
-        pts_ndc = projection_transform.transform_points(pts_view, eps=eps)
+            pts_ndc = projection_transform.transform_points(pts_view, eps=eps)
+        else:
+            # Call transform_points instead of explicitly composing transforms to handle
+            # the case, where camera class does not have a projection matrix form.
+            pts_proj = cameras.transform_points(pts_world, eps=eps)
+            pts_ndc = to_ndc_transform.transform_points(pts_proj, eps=eps)
 
         pts_ndc[..., 2] = pts_view[..., 2]
         point_clouds = point_clouds.update_padded(pts_ndc)

tests/test_rasterizer.py

@@ -21,6 +21,7 @@ from pytorch3d.renderer import (
     PointsRasterizer,
     RasterizationSettings,
 )
+from pytorch3d.renderer.fisheyecameras import FishEyeCameras
 from pytorch3d.renderer.opengl.rasterizer_opengl import (
     _check_cameras,
     _check_raster_settings,
@@ -51,6 +52,9 @@ class TestMeshRasterizer(unittest.TestCase):
     def test_simple_sphere(self):
         self._simple_sphere(MeshRasterizer)
 
+    def test_simple_sphere_fisheye(self):
+        self._simple_sphere_fisheye_against_perspective(MeshRasterizer)
+
     def test_simple_sphere_opengl(self):
         self._simple_sphere(MeshRasterizerOpenGL)
 
@@ -155,6 +159,91 @@ class TestMeshRasterizer(unittest.TestCase):
 
         self.assertTrue(torch.allclose(image, image_ref))
 
+    def _simple_sphere_fisheye_against_perspective(self, rasterizer_type):
+        device = torch.device("cuda:0")
+
+        # Init mesh
+        sphere_mesh = ico_sphere(5, device)
+
+        # Init rasterizer settings
+        R, T = look_at_view_transform(2.7, 0, 0)
+
+        # Init Fisheye camera params
+        focal = torch.tensor([[1.7321]], dtype=torch.float32)
+        principal_point = torch.tensor([[0.0101, -0.0101]])
+        perspective_cameras = PerspectiveCameras(
+            R=R,
+            T=T,
+            focal_length=focal,
+            principal_point=principal_point,
+            device="cuda:0",
+        )
+        fisheye_cameras = FishEyeCameras(
+            device=device,
+            R=R,
+            T=T,
+            focal_length=focal,
+            principal_point=principal_point,
+            world_coordinates=True,
+            use_radial=False,
+            use_tangential=False,
+            use_thin_prism=False,
+        )
+        raster_settings = RasterizationSettings(
+            image_size=512, blur_radius=0.0, faces_per_pixel=1, bin_size=0
+        )
+
+        # Init rasterizer
+        perspective_rasterizer = rasterizer_type(
+            cameras=perspective_cameras, raster_settings=raster_settings
+        )
+        fisheye_rasterizer = rasterizer_type(
+            cameras=fisheye_cameras, raster_settings=raster_settings
+        )
+
+        ####################################################################################
+        # Test rasterizing a single mesh comparing fisheye camera against perspective camera
+        ####################################################################################
+
+        perspective_fragments = perspective_rasterizer(sphere_mesh)
+        perspective_image = perspective_fragments.pix_to_face[0, ..., 0].squeeze().cpu()
+        # Convert pix_to_face to a binary mask
+        perspective_image[perspective_image >= 0] = 1.0
+        perspective_image[perspective_image < 0] = 0.0
+
+        if DEBUG:
+            Image.fromarray((perspective_image.numpy() * 255).astype(np.uint8)).save(
+                DATA_DIR
+                / f"DEBUG_test_perspective_rasterized_sphere_{rasterizer_type.__name__}.png"
+            )
+
+        fisheye_fragments = fisheye_rasterizer(sphere_mesh)
+        fisheye_image = fisheye_fragments.pix_to_face[0, ..., 0].squeeze().cpu()
+        # Convert pix_to_face to a binary mask
+        fisheye_image[fisheye_image >= 0] = 1.0
+        fisheye_image[fisheye_image < 0] = 0.0
+
+        if DEBUG:
+            Image.fromarray((fisheye_image.numpy() * 255).astype(np.uint8)).save(
+                DATA_DIR
+                / f"DEBUG_test_fisheye_rasterized_sphere_{rasterizer_type.__name__}.png"
+            )
+
+        self.assertTrue(torch.allclose(fisheye_image, perspective_image))
+
+        ##################################
+        #  2. Test with a batch of meshes
+        ##################################
+
+        batch_size = 10
+        sphere_meshes = sphere_mesh.extend(batch_size)
+        fragments = fisheye_rasterizer(sphere_meshes)
+        for i in range(batch_size):
+            image = fragments.pix_to_face[i, ..., 0].squeeze().cpu()
+            image[image >= 0] = 1.0
+            image[image < 0] = 0.0
+            self.assertTrue(torch.allclose(image, perspective_image))
+
     def test_simple_to(self):
         # Check that to() works without a cameras object.
         device = torch.device("cuda:0")
@@ -412,6 +501,76 @@ class TestPointRasterizer(unittest.TestCase):
             image[image < 0] = 0.0
             self.assertTrue(torch.allclose(image, image_ref[..., 0]))
 
+    def test_simple_sphere_fisheye_against_perspective(self):
+        device = torch.device("cuda:0")
+
+        # Rescale image_ref to the 0 - 1 range and convert to a binary mask.
+        sphere_mesh = ico_sphere(1, device)
+        verts_padded = sphere_mesh.verts_padded()
+        verts_padded[..., 1] += 0.2
+        verts_padded[..., 0] += 0.2
+        pointclouds = Pointclouds(points=verts_padded)
+        R, T = look_at_view_transform(2.7, 0.0, 0.0)
+        perspective_cameras = PerspectiveCameras(
+            R=R,
+            T=T,
+            device=device,
+        )
+        fisheye_cameras = FishEyeCameras(
+            device=device,
+            R=R,
+            T=T,
+            world_coordinates=True,
+            use_radial=False,
+            use_tangential=False,
+            use_thin_prism=False,
+        )
+        raster_settings = PointsRasterizationSettings(
+            image_size=256, radius=5e-2, points_per_pixel=1
+        )
+
+        #################################
+        #  1. Test init without cameras.
+        ##################################
+
+        # Initialize without passing in the cameras
+        rasterizer = PointsRasterizer()
+
+        # Check that omitting the cameras in both initialization
+        # and the forward pass throws an error:
+        with self.assertRaisesRegex(ValueError, "Cameras must be specified"):
+            rasterizer(pointclouds)
+
+        ########################################################################################
+        # 2. Test rasterizing a single pointcloud with fisheye camera agasint perspective camera
+        ########################################################################################
+
+        perspective_fragments = rasterizer(
+            pointclouds, cameras=perspective_cameras, raster_settings=raster_settings
+        )
+        fisheye_fragments = rasterizer(
+            pointclouds, cameras=fisheye_cameras, raster_settings=raster_settings
+        )
+
+        # Convert idx to a binary mask
+        perspective_image = perspective_fragments.idx[0, ..., 0].squeeze().cpu()
+        perspective_image[perspective_image >= 0] = 1.0
+        perspective_image[perspective_image < 0] = 0.0
+
+        fisheye_image = fisheye_fragments.idx[0, ..., 0].squeeze().cpu()
+        fisheye_image[fisheye_image >= 0] = 1.0
+        fisheye_image[fisheye_image < 0] = 0.0
+
+        if DEBUG:
+            Image.fromarray((perspective_image.numpy() * 255).astype(np.uint8)).save(
+                DATA_DIR / "DEBUG_test_rasterized_perspective_sphere_points.png"
+            )
+            Image.fromarray((fisheye_image.numpy() * 255).astype(np.uint8)).save(
+                DATA_DIR / "DEBUG_test_rasterized_fisheye_sphere_points.png"
+            )
+
+        self.assertTrue(torch.allclose(fisheye_image, perspective_image))
+
     def test_simple_to(self):
         # Check that to() works without a cameras object.
         device = torch.device("cuda:0")

tests/test_render_meshes.py

@@ -12,10 +12,12 @@ import os
 import unittest
 from collections import namedtuple
 
+from itertools import product
+
 import numpy as np
 import torch
 from PIL import Image
-from pytorch3d.io import load_obj
+from pytorch3d.io import load_obj, load_objs_as_meshes
 from pytorch3d.renderer import (
     AmbientLights,
     FoVOrthographicCameras,
@@ -33,6 +35,7 @@ from pytorch3d.renderer import (
     TexturesUV,
     TexturesVertex,
 )
+from pytorch3d.renderer.fisheyecameras import FishEyeCameras
 from pytorch3d.renderer.mesh.shader import (
     BlendParams,
     HardFlatShader,
@@ -59,7 +62,6 @@ from .common_testing import (
     TestCaseMixin,
 )
 
-
 # If DEBUG=True, save out images generated in the tests for debugging.
 # All saved images have prefix DEBUG_
 DEBUG = False
@@ -107,8 +109,38 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
             FoVOrthographicCameras,
             PerspectiveCameras,
             OrthographicCameras,
+            FishEyeCameras,
         ):
-            cameras = cam_type(device=device, R=R, T=T)
+            if cam_type == FishEyeCameras:
+                cam_kwargs = {
+                    "radial_params": torch.tensor(
+                        [
+                            [-1, -2, -3, 0, 0, 1],
+                        ],
+                        dtype=torch.float32,
+                    ),
+                    "tangential_params": torch.tensor(
+                        [[0.7002747019, -0.4005228974]], dtype=torch.float32
+                    ),
+                    "thin_prism_params": torch.tensor(
+                        [
+                            [-1.000134884, -1.000084822, -1.0009420014, -1.0001276838],
+                        ],
+                        dtype=torch.float32,
+                    ),
+                }
+                cameras = cam_type(
+                    device=device,
+                    R=R,
+                    T=T,
+                    use_tangential=True,
+                    use_radial=True,
+                    use_thin_prism=True,
+                    world_coordinates=True,
+                    **cam_kwargs,
+                )
+            else:
+                cameras = cam_type(device=device, R=R, T=T)
 
             # Init shader settings
             materials = Materials(device=device)
@@ -146,7 +178,11 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
                         cameras=cameras, raster_settings=raster_settings
                     )
                 elif test.rasterizer == MeshRasterizerOpenGL:
-                    if type(cameras) in [PerspectiveCameras, OrthographicCameras]:
+                    if type(cameras) in [
+                        PerspectiveCameras,
+                        OrthographicCameras,
+                        FishEyeCameras,
+                    ]:
                         # MeshRasterizerOpenGL is only compatible with FoV cameras.
                         continue
                     rasterizer = test.rasterizer(
@@ -181,8 +217,6 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
                 )
 
                 image_ref = load_rgb_image("test_%s" % filename, DATA_DIR)
-                self.assertClose(rgb, image_ref, atol=0.05)
-
                 if DEBUG:
                     debug_filename = "simple_sphere_light_%s%s%s.png" % (
                         test.debug_name,
@@ -193,6 +227,7 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
                     Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
                         DATA_DIR / filename
                     )
+                self.assertClose(rgb, image_ref, atol=0.05)
 
             ########################################################
             # Move the light to the +z axis in world space so it is
@@ -429,8 +464,20 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
             FoVOrthographicCameras,
             PerspectiveCameras,
             OrthographicCameras,
+            FishEyeCameras,
         ):
-            cameras = cam_type(device=device, R=R, T=T)
+            if cam_type == FishEyeCameras:
+                cameras = cam_type(
+                    device=device,
+                    R=R,
+                    T=T,
+                    use_tangential=False,
+                    use_radial=False,
+                    use_thin_prism=False,
+                    world_coordinates=True,
+                )
+            else:
+                cameras = cam_type(device=device, R=R, T=T)
 
             # Init renderer
             renderer = MeshRenderer(
@@ -1443,84 +1490,291 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
                 )
                 self.assertClose(rgb, image_ref, atol=0.05)
 
-        def test_nd_sphere(self):
+    def test_nd_sphere(self):
-            """
+        """
-            Test that the render can handle textures with more than 3 channels and
+        Test that the render can handle textures with more than 3 channels and
-            not just 3 channel RGB.
+        not just 3 channel RGB.
-            """
+        """
-            torch.manual_seed(1)
+        torch.manual_seed(1)
-            device = torch.device("cuda:0")
+        device = torch.device("cuda:0")
-            C = 5
+        C = 5
-            WHITE = ((1.0,) * C,)
+        WHITE = ((1.0,) * C,)
-            BLACK = ((0.0,) * C,)
+        BLACK = ((0.0,) * C,)
 
-            # Init mesh
+        # Init mesh
-            sphere_mesh = ico_sphere(5, device)
+        sphere_mesh = ico_sphere(5, device)
-            verts_padded = sphere_mesh.verts_padded()
+        verts_padded = sphere_mesh.verts_padded()
-            faces_padded = sphere_mesh.faces_padded()
+        faces_padded = sphere_mesh.faces_padded()
-            feats = torch.ones(*verts_padded.shape[:-1], C, device=device)
+        feats = torch.ones(*verts_padded.shape[:-1], C, device=device)
-            n_verts = feats.shape[1]
+        n_verts = feats.shape[1]
-            # make some non-uniform pattern
+        # make some non-uniform pattern
-            feats *= torch.arange(0, 10, step=10 / n_verts, device=device).unsqueeze(1)
+        feats *= torch.arange(0, 10, step=10 / n_verts, device=device).unsqueeze(1)
-            textures = TexturesVertex(verts_features=feats)
+        textures = TexturesVertex(verts_features=feats)
-            sphere_mesh = Meshes(
+        sphere_mesh = Meshes(verts=verts_padded, faces=faces_padded, textures=textures)
-                verts=verts_padded, faces=faces_padded, textures=textures
+
+        # No elevation or azimuth rotation
+        R, T = look_at_view_transform(2.7, 0.0, 0.0)
+
+        cameras = PerspectiveCameras(device=device, R=R, T=T)
+
+        # Init shader settings
+        materials = Materials(
+            device=device,
+            ambient_color=WHITE,
+            diffuse_color=WHITE,
+            specular_color=WHITE,
+        )
+        lights = AmbientLights(
+            device=device,
+            ambient_color=WHITE,
+        )
+        lights.location = torch.tensor([0.0, 0.0, +2.0], device=device)[None]
+
+        raster_settings = RasterizationSettings(
+            image_size=512, blur_radius=0.0, faces_per_pixel=1
+        )
+        rasterizer = MeshRasterizer(cameras=cameras, raster_settings=raster_settings)
+        blend_params = BlendParams(
+            1e-4,
+            1e-4,
+            background_color=BLACK[0],
+        )
+
+        # only test HardFlatShader since that's the only one that makes
+        # sense for classification
+        shader = HardFlatShader(
+            lights=lights,
+            cameras=cameras,
+            materials=materials,
+            blend_params=blend_params,
+        )
+        renderer = MeshRenderer(rasterizer=rasterizer, shader=shader)
+        images = renderer(sphere_mesh)
+
+        self.assertEqual(images.shape[-1], C + 1)
+        self.assertClose(images.amax(), torch.tensor(10.0), atol=0.01)
+        self.assertClose(images.amin(), torch.tensor(0.0), atol=0.01)
+
+        # grab last 3 color channels
+        rgb = (images[0, ..., C - 3 : C] / 10).squeeze().cpu()
+        filename = "test_nd_sphere.png"
+
+        if DEBUG:
+            debug_filename = "DEBUG_%s" % filename
+            Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
+                DATA_DIR / debug_filename
             )
 
-            # No elevation or azimuth rotation
+        image_ref = load_rgb_image(filename, DATA_DIR)
-            R, T = look_at_view_transform(2.7, 0.0, 0.0)
+        self.assertClose(rgb, image_ref, atol=0.05)
 
-            cameras = PerspectiveCameras(device=device, R=R, T=T)
+    def test_simple_sphere_fisheye_params(self):
+        """
+        Test output of phong and gouraud shading matches a reference image using
+        the default values for the light sources.
+
+        """
+        device = torch.device("cuda:0")
+
+        # Init mesh
+        sphere_mesh = ico_sphere(5, device)
+        verts_padded = sphere_mesh.verts_padded()
+        faces_padded = sphere_mesh.faces_padded()
+        feats = torch.ones_like(verts_padded, device=device)
+        textures = TexturesVertex(verts_features=feats)
+        sphere_mesh = Meshes(verts=verts_padded, faces=faces_padded, textures=textures)
+
+        # Init rasterizer settings
+        R, T = look_at_view_transform(2.7, 0.0, 0.0)
+        postfix = "_"
+
+        cam_kwargs = [
+            {
+                "radial_params": torch.tensor(
+                    [
+                        [-1, -2, -3, 0, 0, 1],
+                    ],
+                    dtype=torch.float32,
+                ),
+            },
+            {
+                "tangential_params": torch.tensor(
+                    [[0.7002747019, -0.4005228974]], dtype=torch.float32
+                ),
+            },
+            {
+                "thin_prism_params": torch.tensor(
+                    [
+                        [
+                            -1.000134884,
+                            -1.000084822,
+                            -1.0009420014,
+                            -1.0001276838,
+                        ],
+                    ],
+                    dtype=torch.float32,
+                ),
+            },
+        ]
+        variants = ["radial", "tangential", "prism"]
+        for test_case, variant in zip(cam_kwargs, variants):
+            cameras = FishEyeCameras(
+                device=device,
+                R=R,
+                T=T,
+                use_tangential=True,
+                use_radial=True,
+                use_thin_prism=True,
+                world_coordinates=True,
+                **test_case,
+            )
 
             # Init shader settings
-            materials = Materials(
+            materials = Materials(device=device)
-                device=device,
+            lights = PointLights(device=device)
-                ambient_color=WHITE,
-                diffuse_color=WHITE,
-                specular_color=WHITE,
-            )
-            lights = AmbientLights(
-                device=device,
-                ambient_color=WHITE,
-            )
             lights.location = torch.tensor([0.0, 0.0, +2.0], device=device)[None]
 
             raster_settings = RasterizationSettings(
                 image_size=512, blur_radius=0.0, faces_per_pixel=1
             )
-            rasterizer = MeshRasterizer(
+            blend_params = BlendParams(0.5, 1e-4, (0, 0, 0))
-                cameras=cameras, raster_settings=raster_settings
-            )
-            blend_params = BlendParams(
-                1e-4,
-                1e-4,
-                background_color=BLACK[0],
-            )
 
-            # only test HardFlatShader since that's the only one that makes
+            # Test several shaders
-            # sense for classification
+            rasterizer_tests = [
-            shader = HardFlatShader(
+                RasterizerTest(
+                    MeshRasterizer, HardPhongShader, "hard_phong", "hard_phong"
+                ),
+                RasterizerTest(
+                    MeshRasterizer, HardGouraudShader, "hard_gouraud", "hard_gouraud"
+                ),
+                RasterizerTest(
+                    MeshRasterizer, HardFlatShader, "hard_flat", "hard_flat"
+                ),
+            ]
+            for test in rasterizer_tests:
+                shader = test.shader(
+                    lights=lights,
+                    cameras=cameras,
+                    materials=materials,
+                    blend_params=blend_params,
+                )
+                if test.rasterizer == MeshRasterizer:
+                    rasterizer = test.rasterizer(
+                        cameras=cameras, raster_settings=raster_settings
+                    )
+
+                renderer = MeshRenderer(rasterizer=rasterizer, shader=shader)
+                images = renderer(sphere_mesh)
+
+                rgb = images[0, ..., :3].squeeze().cpu()
+                filename = "simple_sphere_light_%s%s%s%s%s.png" % (
+                    test.reference_name,
+                    postfix,
+                    variant,
+                    postfix,
+                    FishEyeCameras.__name__,
+                )
+
+                image_ref = load_rgb_image("test_%s" % filename, DATA_DIR)
+                if DEBUG:
+                    debug_filename = "simple_sphere_light_%s%s%s%s%s.png" % (
+                        test.debug_name,
+                        postfix,
+                        variant,
+                        postfix,
+                        FishEyeCameras.__name__,
+                    )
+                    filename = "DEBUG_%s" % debug_filename
+                    Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
+                        DATA_DIR / filename
+                    )
+                self.assertClose(rgb, image_ref, atol=0.05)
+
+            ########################################################
+            # Move the light to the +z axis in world space so it is
+            # behind the sphere. Note that +Z is in, +Y up,
+            # +X left for both world and camera space.
+            ########################################################
+            lights.location[..., 2] = -2.0
+            phong_shader = HardPhongShader(
                 lights=lights,
                 cameras=cameras,
                 materials=materials,
                 blend_params=blend_params,
             )
-            renderer = MeshRenderer(rasterizer=rasterizer, shader=shader)
-            images = renderer(sphere_mesh)
-
-            self.assertEqual(images.shape[-1], C + 1)
-            self.assertClose(images.amax(), torch.tensor(10.0), atol=0.01)
-            self.assertClose(images.amin(), torch.tensor(0.0), atol=0.01)
-
-            # grab last 3 color channels
-            rgb = (images[0, ..., C - 3 : C] / 10).squeeze().cpu()
-            filename = "test_nd_sphere.png"
 
+            phong_renderer = MeshRenderer(rasterizer=rasterizer, shader=phong_shader)
+            images = phong_renderer(sphere_mesh, lights=lights)
+            rgb = images[0, ..., :3].squeeze().cpu()
             if DEBUG:
-                debug_filename = "DEBUG_%s" % filename
+                filename = "DEBUG_simple_sphere_dark%s%s%s%s.png" % (
+                    postfix,
+                    variant,
+                    postfix,
+                    FishEyeCameras.__name__,
+                )
                 Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
-                    DATA_DIR / debug_filename
+                    DATA_DIR / filename
                 )
 
+            image_ref_phong_dark = load_rgb_image(
+                "test_simple_sphere_dark%s%s%s%s.png"
+                % (postfix, variant, postfix, FishEyeCameras.__name__),
+                DATA_DIR,
+            )
+            # Soft shaders (SplatterPhong) will have a different boundary than hard
+            # ones, but should be identical otherwise.
+            self.assertLess((rgb - image_ref_phong_dark).quantile(0.99), 0.005)
+
+    def test_fisheye_cow_mesh(self):
+        """
+        Test FishEye Camera distortions on real meshes
+        """
+        device = torch.device("cuda:0")
+        obj_filename = os.path.join(DATA_DIR, "missing_usemtl/cow.obj")
+        mesh = load_objs_as_meshes([obj_filename], device=device)
+        R, T = look_at_view_transform(2.7, 0, 180)
+        radial_params = torch.tensor([[-1.0, 1.0, 1.0, 0.0, 0.0, -1.0]])
+        tangential_params = torch.tensor([[0.5, 0.5]])
+        thin_prism_params = torch.tensor([[0.5, 0.5, 0.5, 0.5]])
+        combinations = product([False, True], repeat=3)
+        for combination in combinations:
+            cameras = FishEyeCameras(
+                device=device,
+                R=R,
+                T=T,
+                world_coordinates=True,
+                use_radial=combination[0],
+                use_tangential=combination[1],
+                use_thin_prism=combination[2],
+                radial_params=radial_params,
+                tangential_params=tangential_params,
+                thin_prism_params=thin_prism_params,
+            )
+            raster_settings = RasterizationSettings(
+                image_size=512,
+                blur_radius=0.0,
+                faces_per_pixel=1,
+            )
+            lights = PointLights(device=device, location=[[0.0, 0.0, -3.0]])
+            renderer = MeshRenderer(
+                rasterizer=MeshRasterizer(
+                    cameras=cameras, raster_settings=raster_settings
+                ),
+                shader=SoftPhongShader(device=device, cameras=cameras, lights=lights),
+            )
+            images = renderer(mesh)
+            rgb = images[0, ..., :3].squeeze().cpu()
+            filename = "test_cow_mesh_%s_radial_%s_tangential_%s_prism_%s.png" % (
+                FishEyeCameras.__name__,
+                combination[0],
+                combination[1],
+                combination[2],
+            )
             image_ref = load_rgb_image(filename, DATA_DIR)
+            if DEBUG:
+                filename = filename.replace("test", "DEBUG")
+                Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
+                    DATA_DIR / filename
+                )
             self.assertClose(rgb, image_ref, atol=0.05)

tests/test_render_points.py

@@ -23,6 +23,7 @@ from pytorch3d.renderer.cameras import (
     PerspectiveCameras,
 )
 from pytorch3d.renderer.compositing import alpha_composite, norm_weighted_sum
+from pytorch3d.renderer.fisheyecameras import FishEyeCameras
 from pytorch3d.renderer.points import (
     AlphaCompositor,
     NormWeightedCompositor,
@@ -84,6 +85,49 @@ class TestRenderPoints(TestCaseMixin, unittest.TestCase):
                 )
             self.assertClose(rgb, image_ref)
 
+    def test_simple_sphere_fisheye(self):
+        device = torch.device("cuda:0")
+        sphere_mesh = ico_sphere(1, device)
+        verts_padded = sphere_mesh.verts_padded()
+        # Shift vertices to check coordinate frames are correct.
+        verts_padded[..., 1] += 0.2
+        verts_padded[..., 0] += 0.2
+        pointclouds = Pointclouds(
+            points=verts_padded, features=torch.ones_like(verts_padded)
+        )
+        R, T = look_at_view_transform(2.7, 0.0, 0.0)
+        cameras = FishEyeCameras(
+            device=device,
+            R=R,
+            T=T,
+            use_radial=False,
+            use_tangential=False,
+            use_thin_prism=False,
+            world_coordinates=True,
+        )
+        raster_settings = PointsRasterizationSettings(
+            image_size=256, radius=5e-2, points_per_pixel=1
+        )
+        rasterizer = PointsRasterizer(cameras=cameras, raster_settings=raster_settings)
+        compositor = NormWeightedCompositor()
+        renderer = PointsRenderer(rasterizer=rasterizer, compositor=compositor)
+
+        # Load reference image
+        filename = "render_fisheye_sphere_points.png"
+        image_ref = load_rgb_image("test_%s" % filename, DATA_DIR)
+
+        for bin_size in [0, None]:
+            # Check both naive and coarse to fine produce the same output.
+            renderer.rasterizer.raster_settings.bin_size = bin_size
+            images = renderer(pointclouds)
+            rgb = images[0, ..., :3].squeeze().cpu()
+            if DEBUG:
+                filename = "DEBUG_%s" % filename
+                Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
+                    DATA_DIR / filename
+                )
+            self.assertClose(rgb, image_ref)
+
     def test_simple_sphere_pulsar(self):
         for device in [torch.device("cpu"), torch.device("cuda")]:
             sphere_mesh = ico_sphere(1, device)